低成本开源机器人实现全身体态操控与双臂协作，适合预算有限的研究者。
YOR: Your Own Mobile Manipulator for Generalizable Robotics
- 采用全向底盘+伸缩升降臂+双机械臂结构，支持全身运动与操作。
- 物料成本低于1万美元，可完成需协同控制的复杂任务。
- 模块化设计易组装，适合移动操作研究入门与快速迭代。
近期机器人学习进展激发了对具备人类级能力潜力平台的兴趣。随着执行器价格下降，低成木机器人平台迅速发展。然而，低成本移动操作平台的最佳形态仍不明确。我们提出YOR，一款开源、低成本的移动操作机器人，集成全向底盘、可伸缩垂直升降机构及两个带夹爪的机械臂，实现全身移动与操作一体化。设计强调模块化、使用市售组件易组装、成本可控，物料清单成本低于1万美元。通过实验证明，YOR可完成需要协调式全身控制、双手操作及自主导航的任务。整体而言，该平台在移动操作研究中提供接近高端设备的功能，但成本仅为现有方案的一小部分。项目主页：https://www.yourownrobot.ai/
原文摘要 · Abstract (English)
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost robotic platforms. However, the optimal form factor for mobile manipulation, especially on a budget, remains an open question. We introduce YOR, an open-source, low-cost mobile manipulator that integrates an omnidirectional base, a telescopic vertical lift, and two arms with grippers to achieve whole-body mobility and manipulation. Our design emphasizes modularity, ease of assembly using off-the-shelf components, and affordability, with a bill-of-materials cost under 10,000 USD. We demonstrate YOR's capability by completing tasks that require coordinated whole-body control, bimanual manipulation, and autonomous navigation. Overall, YOR offers competitive functionality for mobile manipulation research at a fraction of the cost of existing platforms. Project website: https://www.yourownrobot.ai/
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。